Parallel active suspension

Abstract

The invention discloses a parallel active suspension which comprises a vehicle body platform, two active suspension main branch chains, a remote center system, an active suspension auxiliary branch chain, a composite damping structure and a wheel driving part. The two active suspension main branch chains are arranged on the two sides of the remote center system correspondingly, and the upper ends and the lower ends of the active suspension main branch chains are hinged to the vehicle body platform and the remote center platform correspondingly. The active suspension auxiliary branch chain is arranged on the rear side of the remote center platform. The middle of the remote center platform is connected with the upper end of a supporting piece through a rotating shaft sleeve, the rear end of the supporting piece is connected with the upper end of a servo air cylinder, the lower end of the servo air cylinder is connected with the lower portion of a Z-shaped supporting piece frame body, the lower end of the supporting piece is hinged to a composite damping structure, and the lower end of the composite damping structure is connected with the upper end of the Z-shaped supporting piece frame body. The lower end of the Z-shaped supporting piece frame body is connected with the composite damping structure. The parallel active suspension has the advantages of being high in bearing capacity, good in stability, high in response speed, high in flexibility and the like.

Description

Technical Field

[0001] The present invention relates to a parallel active suspension that adopts a shock-absorbing structure of a new composite material and a non-constant force air shock-absorbing structure. Background Art

[0002] In recent years, with the continuous development of intelligent technologies, AGV intelligent handling robots have been widely used, and the exploration of their related theoretical technologies has also been continuously deepened. There are bottlenecks in the suspension performance of existing AGVs under dynamic loads, high-frequency vibrations, and compact spaces: dynamic loads lead to material fatigue and instability of geometric parameters, high-frequency vibrations cause resonance risks and sensor signal distortion, and compact spaces limit component sizes and heat dissipation efficiency. Under the combined action of the three, the suspension system is severely limited in terms of stability, lifespan, and vibration suppression performance. Traditional linear damping mechanisms and fixed stiffness designs cannot effectively decouple the multi-physical field coupling effects, seriously restricting the reliability and environmental adaptability of AGVs in high-speed and high-precision operation scenarios. Summary of the Invention

[0003] In view of this, the present invention provides a parallel active suspension that adopts a shock-absorbing structure of a new composite material and a non-constant force air shock-absorbing structure, which has the advantages of strong load-bearing capacity, good stability, fast response speed, high dexterity, etc.

[0004] To solve the above problems, an embodiment of the present invention provides a parallel active suspension that adopts a shock-absorbing structure of a new composite material and a non-constant force air shock-absorbing structure, including:

[0005] It includes a vehicle body platform, two main chains of the active suspension, a remote center system, an auxiliary chain of the active suspension, a composite material shock-absorbing component, and a wheel drive part;

[0006] The remote center system includes a remote center platform, and the remote center platform is in a U-shaped structure. The two main chains of the active suspension are respectively arranged on both sides of the U-shaped structure.

[0007] The upper end of the main chain of the active suspension is hinged to the vehicle body platform, and the lower end is hinged to the remote center platform;

[0008] The auxiliary chain of the active suspension is arranged at the rear side of the remote center platform. Its upper end is connected to the vehicle body platform through a universal joint, and the lower end is hinged to the rear end of the composite material shock-absorbing component. The front end of the composite material shock-absorbing component is connected to the wheel drive part;

[0009] The lower part in the middle of the remote center platform is connected to the upper end of a support member through a rotating bushing. The rear end of the support member is connected to the upper end of a servo cylinder through a rotating pair. The lower end of the servo cylinder is connected to the lower part of a Z-shaped support member frame. The lower end of the support member is hinged to the composite material shock-absorbing structure. The lower end of the composite material shock-absorbing structure is connected to the upper end of the Z-shaped support member frame; the lower end of the Z-shaped support member frame is connected to the composite material shock-absorbing component.

[0010] In some embodiments, the upper end of the main chain of the active suspension is connected to the vehicle body platform through a flexible hinge, and the lower end is connected to the remote center platform through a connecting bushing and a revolute pair.

[0011] In some embodiments, the upper end of the auxiliary chain of the active suspension is connected to the vehicle body platform through a universal joint composed of flexible hinges, and the lower end is connected to a composite damping component through a bushing ball joint and a ball joint seat.

[0012] In some embodiments, the lower end of the servo cylinder is connected to the Z-shaped support frame through a connecting bushing, a revolute pair, and an inclined-section connecting plate. The lower end of the support is connected to the composite damping structure through screws, and the lower end of the composite damping structure is connected to the upper end of the Z-shaped support frame through screws.

[0013] In some embodiments, the composite damping component includes a composite leaf spring and a composite damping structure. The lower end of the auxiliary chain of the active suspension is connected to the composite leaf spring and the composite damping structure through a bushing ball joint and a ball joint seat, and the lower end of the Z-shaped support frame is connected to the composite leaf spring and the composite damping structure through screws.

[0014] In some embodiments, the lower end of the Z-shaped support frame is connected to the composite leaf spring and the composite damping structure through screws, and the aluminum alloy rod is fixed in the composite damping structure by threads.

[0015] In some embodiments, the wheel drive part includes a hub motor and a wheel;

[0016] The composite damping structure is connected to the hub motor through screws, and the hub motor is connected to the wheel.

[0017] In some embodiments, the main chain of the active suspension includes an electric cylinder, a servo motor, a large pulley, a small pulley, a belt, and a connecting platform. The servo motor is connected to the flexible hinge, the servo motor is fixedly connected to the motor connecting plate through screws, the servo motor is connected to the small pulley by a key, the small pulley is connected to the large pulley by a belt, and the large pulley is fixedly connected to the electric cylinder.

[0018] In some embodiments, the auxiliary chain of the active suspension includes an electric cylinder, a servo motor, a large pulley, a small pulley, a belt, and a connecting platform. The servo motor is connected to the flexible hinge, the servo motor is fixedly connected to the motor connecting plate through screws, the servo motor is connected to the small pulley by a key, the small pulley is connected to the large pulley by a belt, and the large pulley is fixedly connected to the electric cylinder.

[0019] In some embodiments, the two main chains of the active suspension are located in the same plane.

[0020] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0021] By integrating a parallel mechanism with a "non-constant force airbag group + new composite material damping structure", the present invention realizes the dynamic decoupling of structural stiffness and damping flexibility: the parallel mechanism provides high-precision pose control to ensure the navigation stability of the AGV; the composite material layer efficiently dissipates high-frequency vibration energy by utilizing the strain rate sensitivity characteristic; the non-constant force airbag realizes millisecond-level pressure regulation through a servo valve group to suppress instantaneous impact. Brief Description of the Drawings

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0023] Figure 1 is a schematic diagram of the overall active suspension;

[0024] Figure 2 is a front view of the active suspension;

[0025] Figure 3 is a side view of the active suspension;

[0026] Figure 4 is a structural diagram of the main branch chain of the active suspension;

[0027] Figure 5 is a structural diagram of the composite material damping component;

[0028] Explanation of the Reference Numerals in the Drawings:

[0029] Vehicle body platform 1,

[0030] Electric cylinder 2121, servo motor 2122, large pulley 2123, small pulley 2124, belt 2125, connecting platform 2126, flexible hinge 211, main branch chain 212 of the active suspension, connecting bushing 213, rotating pair 214,

[0031] Remote center platform 221, rotating bushing 222, support member 223, composite material damping structure 224, Z-shaped support member frame 225, inclined section connecting plate 2251, servo cylinder 2231,

[0032] Main branch chain 231 of the active suspension, bushing ball hinge 232, ball hinge seat 233, electric cylinder 2311, servo motor 2312, large pulley 2313, small pulley 2314, belt 2315, connecting platform 2316,

[0033] Composite leaf spring 311, composite damping structure 312, aluminum alloy rod 313, in-wheel motor 321, wheel 322. Detailed implementation mode

[0034] To make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention.

[0035] See Figures 1-3 , the embodiments of the present invention provide a parallel active suspension that adopts a new composite material shock absorption structure and a non-constant force air shock absorption structure, including a vehicle body platform 1, two main chains 212 of the active suspension, a remote center system, a sub-chain 231 of the active suspension, a composite material shock absorption component, and a wheel drive part.

[0036] Specifically, the remote center system includes a remote center platform 221. The remote center system includes a remote center platform 221, a rotating shaft sleeve 222, a support member 223, a composite material shock absorption structure 224, a Z-shaped support member frame 225, and a servo cylinder 2231.

[0037] The remote center platform 221 is in a shape of a capital "J". The two main chains 212 of the active suspension are respectively arranged on both sides of the "J" - shaped structure. The upper end of the main chain 212 of the active suspension is hinged to the vehicle body platform 1, and the lower end is hinged to the remote center platform 221. The sub-chain 231 of the active suspension is arranged at the rear side of the remote center platform 221. Its upper end is connected to the vehicle body platform 1 through a universal joint, and the lower end is hinged to the rear end of the composite material shock absorption component. The front end of the composite material shock absorption component is connected to the wheel drive part. The lower part in the middle of the remote center platform 221 is connected to the upper end of the support member 223 through the rotating shaft sleeve 222. The rear end of the support member 223 is connected to the upper end of the servo cylinder 2231 through a rotating pair 214. The lower end of the servo cylinder 2231 is connected to the lower part of the Z-shaped support member frame 225. The lower end of the support member 223 is hinged to the composite material shock absorption structure 224, and the lower end of the composite material shock absorption structure 224 is connected to the upper end of the Z-shaped support member frame 225. The lower end of the Z-shaped support member frame 225 is connected to the composite material shock absorption component. The composite material shock absorption structure 224 is made of high-toughness nylon and carbon fiber composite materials.

[0038] In some embodiments provided by the present invention, the active suspension branch chain 212 is realized by a servo motor and an electric cylinder; the upper end of the active suspension main branch chain 212 is connected to the vehicle body platform 1 through a flexible hinge 211, and the lower end is connected to both sides of the U-shaped structure remote center platform 221 through a connecting bushing 213 and a rotating pair 214.

[0039] In some embodiments provided by the present invention, the upper end of the active suspension secondary branch chain 231 is connected to the vehicle body platform 1 through a universal joint composed of flexible hinges 211, and the lower end is connected to the composite material shock absorption component through a bushing ball hinge 232 and a ball hinge seat 233.

[0040] In some embodiments provided by the present invention, the lower end of the servo cylinder 2231 is connected to the rotating pair 214 through a connecting bushing 213 and to the Z-shaped support member frame 225 through an inclined section connecting plate 2251. The lower end of the support member 223 is connected to the composite material shock absorption structure 224 by screws, and the lower end of the composite material shock absorption structure 224 is connected to the upper end of the Z-shaped support member frame 225 by screws.

[0041] In some embodiments provided by the present invention, see Figure 5 , the composite material shock absorption component includes a composite material leaf spring 311 and a composite material damping structure 312, which are connected by bolts. There are three groups of six threaded holes in the front, middle and rear of the leaf spring and the damping block for connecting the leaf spring and the damping block. The composite material leaf spring 311 adopts a carbon fiber skin and a glass fiber core layer composite material; the composite material damping structure 312 is formed by 3D printing high-toughness nylon and carbon fiber. The composite material damping structure 312 is a cubic leaf spring with a hollow threaded hole. The aluminum alloy rod 313 is fixed in the composite material damping structure 312 by threads. The function of the aluminum alloy rod 313 is to increase the lateral stiffness so that the damping structure has better elastic performance in the longitudinal direction.

[0042] The lower end of the active suspension secondary branch chain 231 is connected to the composite material leaf spring 311 and the composite material damping structure 312 through a bushing ball hinge 232 and a ball hinge seat 233. The lower end of the Z-shaped support member frame 225 is connected to the composite material leaf spring 311 and the composite material damping structure 312 by screws.

[0043] In some embodiments provided by the present invention, the lower end of the Z-shaped support member frame 225 is connected to the composite material leaf spring 311 and the composite material damping structure 312 by screws.

[0044] In some embodiments provided by the present invention, the wheel drive part includes a hub motor 321 and a wheel 322; the composite material damping structure 312 is connected to the hub motor 321 by screws, and the hub motor 321 is connected to the wheel 322.

[0045] In some embodiments provided by the present invention, refer to Figure 4 , the main chain 212 of the active suspension includes an electric cylinder 2121, a servo motor 2122, a large pulley 2123, a small pulley 2124, a belt 2125 and a connection platform 2126; the servo motor 2122 is connected to the flexible hinge 211, the servo motor 2122 is fixedly connected to the motor connection plate 2126 by screws, the servo motor 2122 is connected to the small pulley 2124 by a key, the small pulley 2124 is connected to the large pulley 2123 by the belt 2125, and the large pulley 2123 is fixedly connected to the electric cylinder 2121.

[0046] In some embodiments provided by the present invention, the structure of the auxiliary chain 231 of the active suspension is the same as that of the main chain 212 of the active suspension.

[0047] In some embodiments provided by the present invention, the two main chains 212 of the active suspension are located in the same plane.

[0048] In summary, the invention proposes a parallel active suspension that adopts a new composite material damping structure and non-constant force cylinder damping (the cylinder part realizes non-constant damping force through control), including a vehicle body platform, 3 active suspension chains (two main chains and one auxiliary chain), a remote center system, a composite material damping structure and a wheel drive part. This mechanism can make the wheel steering center and the wheel center be in the same vertical plane, and can actively adjust functions such as chassis height, coaxial wheelbase, vehicle body inclination angle, four-wheel differential driving, and suspension support force under different vehicle conditions. Moreover, the present invention has the advantages of strong load-bearing capacity, good stability, fast response speed, and high flexibility, thus making this mechanism a parallel active suspension with a new composite material damping structure and a non-constant force air damping structure.

[0049] The above are only the preferred embodiments of the present invention, and do not impose any form of limitation on the present invention. Any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A parallel active suspension, characterized in that: It includes a vehicle body platform (1), two main chains of the active suspension (212), a remote center system, a secondary chain of the active suspension (231), a composite material shock absorption component, and a wheel drive part; The remote center system includes a remote center platform (221), and the remote center platform (221) has a U-shaped structure. The two main chains of the active suspension (212) are respectively arranged on both sides of the U-shaped structure. The upper end of the main chain of the active suspension (212) is hinged to the vehicle body platform (1), and the lower end is hinged to the remote center platform (221); The secondary chain of the active suspension (231) is arranged at the rear side of the remote center platform (221). Its upper end is connected to the vehicle body platform (1) through a universal joint, and the lower end is hinged to the rear end of the composite material shock absorption structure. The front end of the composite material shock absorption structure is connected to the wheel drive part; The lower part in the middle of the remote center platform (221) is connected to the upper end of a support member (223) through a rotating bushing (222). The rear end of the support member (223) is connected to the upper end of a servo cylinder (2231) through a rotating pair (214). The lower end of the servo cylinder (2231) is connected to the lower part of a Z-shaped support member frame (225). The lower end of the support member (223) is hinged to a composite material shock absorption structure (224). The lower end of the composite material shock absorption structure (224) is connected to the upper end of the Z-shaped support member frame (225); the lower end of the Z-shaped support member frame (225) is connected to the composite material shock absorption component.

2. The parallel active suspension according to claim 1, characterized in that: The upper end of the main chain of the active suspension (212) is connected to the vehicle body platform (1) through a flexible hinge, and the lower end is connected to the remote center platform (221) through a connecting bushing (213) and a rotating pair (214).

3. The parallel active suspension according to claim 2, characterized in that: The upper end of the secondary chain of the active suspension (231) is connected to the vehicle body platform (1) through a universal joint composed of flexible hinges, and the lower end is connected to the composite material shock absorption component through a bushing ball joint (232) and a ball joint seat (233).

4. The parallel active suspension according to claim 3, characterized in that: The lower end of the servo cylinder (2231) is connected to the Z-shaped support member frame (225) through a connecting bushing, a rotating pair, and an inclined section connecting plate (2251). The lower end of the support member (223) is connected to the composite material shock absorption structure (224) through screws. The lower end of the composite material shock absorption structure (224) is connected to the upper end of the Z-shaped support member frame (225) through screws.

5. The parallel active suspension according to claim 4, characterized in that: The composite material shock absorption assembly includes a composite material leaf spring (311) and a composite material damping structure (312). The aluminum alloy rod (313) is fixed in the composite material damping structure (312) by threads. The lower end of the active suspension secondary chain (231) is connected to the composite material leaf spring (311) and the composite material damping structure (312) through a bushing ball hinge (232) and a ball hinge seat (233). The lower end of the Z-shaped support frame body (225) is connected to the composite material leaf spring (311) and the composite material damping structure (312) by screws.

6. The parallel active suspension according to claim 5, characterized in that: The lower end of the Z-shaped support frame body (225) is connected to the composite material leaf spring (311) and the composite material damping structure (312) by screws.

7. The parallel active suspension according to claim 6, characterized in that: The wheel drive part includes a hub motor (321) and a wheel (322); The composite material damping structure (312) is connected to the hub motor (321) by screws, and the hub motor (321) is connected to the wheel (322).

8. The parallel active suspension according to claim 7, characterized in that: The active suspension main chain (212) includes an electric cylinder (2121), a servo motor (2122), a large pulley (2123), a small pulley (2124), a belt (2125) and a connection platform (2126). The servo motor (2122) is connected to the flexible hinge (211). The servo motor (2122) is fixedly connected to the motor connection plate (2126) by screws. The servo motor (2122) is connected to the small pulley (2124) by a key. The small pulley (2124) is connected to the large pulley (2123) by the belt (2125). The large pulley (2123) is fixedly connected to the electric cylinder (2121).

9. The parallel active suspension according to claim 8, characterized in that: The active suspension secondary chain (231) includes an electric cylinder (2311), a servo motor (2312), a large pulley (2313), a small pulley (2314), a belt (2315) and a connection platform (2316). The servo motor (2312) is connected to the flexible hinge (211). The servo motor (2312) is fixedly connected to the motor connection plate (2316) by screws. The servo motor (2312) is connected to the small pulley (2314) by a key. The small pulley (2314) is connected to the large pulley (2313) by the belt (2315). The large pulley (2313) is fixedly connected to the electric cylinder (2311).

10. The parallel active suspension according to claim 9, characterized in that: The two active suspension main chains (212) are located in the same plane.

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